# -- coding: utf-8 --
"""
# [Example] Miahx© 交互框架信息表示模型的 DDS 消息收发示例

**模块：MIAHX© / 框架基础服务层（FFST） / 交互框架信息表示模型（IFIRM）**

Version: 0.4.10,
Last updated: October 19, 2024

## Contributor(s)
* YAO Naiming <[naiming@iscas.ac.cn](mailto:naiming@iscas.ac.cn)>

## Change log
### v0.4.10
- .19: [新增] 初始实现

---
Copyright © 2024-2025 MIAHX Contributors, ISCAS, and ASIC. All Rights Reserved.
Licensed under Apache-2.0.
"""

import threading
import time

import numpy as np
from miahx_support.dds.fastdds import *
from miahx_support.stag import STag

import launcher


def user_writer(p: Participant, e: threading.Event):
    stag = STag(**dict(sensor_channel=1, sensor_domain='HUMAN', sensor_type='PEEG_NEURACLE',
                       sensor_channel_type='BRAIN', sensor_modality='PHYSIO', sensor_data_format='CSV')).encode()
    writer = UserStreamWriter(p, topic)
    while not e.is_set():
        rawdata = np.array([[1.0, 2.0, float(EUserKeypointType.FACE.value)],
                            [3.0, 4.0, float(EUserKeypointType.BODY.value)]],
                           dtype=np.float32)
        chunk = [(1, 1.0, EDrivingGoalType.CHANGE_LANE_LEFT, rawdata),
                 (2, 2.0, EDrivingGoalType.TURN_RIGHT, None)]
        writer.write(chunk, iid=0, uts=0)
        time.sleep(1)


def user_reader(p: Participant, e: threading.Event):
    def on_data_available(data):
        hdr = data.header()
        dm = hdr.header().domain()
        src = hdr.header().source()
        prefix = f'[{dm}::{src}::{name}]'

        schns = tuple(hdr.schns())
        samples = list(data.samples())
        log.info(f'{prefix} stag = `{hdr.stag()}`')
        log.info(f'{prefix} srate = `{hdr.srate()}`')
        log.info(f'{prefix} schns = `{schns}`')
        log.info(f'{prefix} elements = [{len(samples)}]')

        for i, sample in enumerate(samples):
            log.info(f'{prefix} Element [{i}]:')
            log.info(f'{prefix} \t\tdtype = `{sample.ditype()}`')

            kpt_dims = sample.kpt_dims()
            log.info(f'{prefix} \t\tkpt_dims = `{kpt_dims}`')
            if kpt_dims > 0:
                keypoints = np.array(sample.keypoints()).reshape((-1, kpt_dims + 1))
                log.info(f'{prefix} \t\tkeypoints.shape = `{keypoints.shape}`')
                for pt in keypoints:
                    log.info(f'{prefix} \t\t\tpoint = `{pt[:2]}`')
                    log.info(f'{prefix} \t\t\ttype = `{EUserKeypointType(int(pt[-1]))}`')
            log.info(f'{prefix} End Element [{i}] --------')

        log.info(f'{prefix} ----------------')

    with UserStreamReader(p, topic, on_data_listeners=[on_data_available]) as reader:
        name = type(reader).__name__
        log.success(f'[{name}] Topic: {reader.topic_name}')
        reader.wait(e)


if __name__ == '__main__':
    log = launcher.log
    event = threading.Event()
    participant = Participant()

    topic = Topics.USR_DRIVER_INTENTION

    launcher.run(lambda: (event, [
        threading.Thread(target=user_writer, args=(participant, event), daemon=False),
        threading.Thread(target=user_reader, args=(participant, event), daemon=False),
    ]))
